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Continuum Robots: From Conventional to Customized Performance Indicators

Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robo...

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Detalles Bibliográficos
Autores principales: Russo, Matteo, Gautreau, Elie, Bonnet, Xavier, Laribi, Med Amine
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123637/
https://www.ncbi.nlm.nih.gov/pubmed/37092399
http://dx.doi.org/10.3390/biomimetics8020147
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author Russo, Matteo
Gautreau, Elie
Bonnet, Xavier
Laribi, Med Amine
author_facet Russo, Matteo
Gautreau, Elie
Bonnet, Xavier
Laribi, Med Amine
author_sort Russo, Matteo
collection PubMed
description Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics either fail to capture the key advantages of continuum designs, such as their capability to operate in complex environments thanks to their slender shape and flexibility, or see them as detrimental (e.g., compliance). Previous work has rarely addressed this issue, and never in a systematic way. Therefore, this paper discusses the facets of a continuum robot performance that cannot be characterized by existing indicator and aims at defining a tailored framework of geometrical specifications and kinetostatic indicators. The proposed framework combines the geometric requirements dictated by the target environment and a methodology to obtain bioinspired reference metrics from a biological equivalent of the continuum robot (e.g., a snake, a tentacle, or a trunk). A numerical example is then reported for a swimming snake robot use case.
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spelling pubmed-101236372023-04-25 Continuum Robots: From Conventional to Customized Performance Indicators Russo, Matteo Gautreau, Elie Bonnet, Xavier Laribi, Med Amine Biomimetics (Basel) Article Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics either fail to capture the key advantages of continuum designs, such as their capability to operate in complex environments thanks to their slender shape and flexibility, or see them as detrimental (e.g., compliance). Previous work has rarely addressed this issue, and never in a systematic way. Therefore, this paper discusses the facets of a continuum robot performance that cannot be characterized by existing indicator and aims at defining a tailored framework of geometrical specifications and kinetostatic indicators. The proposed framework combines the geometric requirements dictated by the target environment and a methodology to obtain bioinspired reference metrics from a biological equivalent of the continuum robot (e.g., a snake, a tentacle, or a trunk). A numerical example is then reported for a swimming snake robot use case. MDPI 2023-04-06 /pmc/articles/PMC10123637/ /pubmed/37092399 http://dx.doi.org/10.3390/biomimetics8020147 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Russo, Matteo
Gautreau, Elie
Bonnet, Xavier
Laribi, Med Amine
Continuum Robots: From Conventional to Customized Performance Indicators
title Continuum Robots: From Conventional to Customized Performance Indicators
title_full Continuum Robots: From Conventional to Customized Performance Indicators
title_fullStr Continuum Robots: From Conventional to Customized Performance Indicators
title_full_unstemmed Continuum Robots: From Conventional to Customized Performance Indicators
title_short Continuum Robots: From Conventional to Customized Performance Indicators
title_sort continuum robots: from conventional to customized performance indicators
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123637/
https://www.ncbi.nlm.nih.gov/pubmed/37092399
http://dx.doi.org/10.3390/biomimetics8020147
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